相关论文: L2B: Learning to Balance the Safety-Efficiency Tra…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

Learned communication makes multi-agent systems more effective by aggregating distributed information. However, it also exposes individual agents to the threat of erroneous messages they might receive. In this paper, we study the setting…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…

Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sophisticated interaction mechanism, which requires the robot…

In recent years, the growing demand for more intelligent service robots is pushing the development of mobile robot navigation algorithms to allow safe and efficient operation in a dense crowd. Reinforcement learning (RL) approaches have…

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Socially compliant navigation is an integral part of safety features in Human-Robot Interaction. Traditional approaches to mobile navigation prioritize physical aspects, such as efficiency, but social behaviors gain traction as robots…